General
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Type
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AF
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Offline editable
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No
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Devices supporting the parameter
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Traceable
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Yes
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Functional Description
The parameter represents the reference acceleration, which is derived from the reference velocity RefVelocity, in units per second2.
NOTE: In PacDrive systems, the user coordinate system is represented in units. Depending on the setting of the FeedConstant (units/revolution or units/m), the user coordinate system is mapped to the physical dimensions. In a multi carrier transport system, one user unit is mapped to 1 mm on the physical track. The setting of a FeedConstant is not supported.
Coordinate displacements with FC_SetposSingle() do not affect the parameter RefAcceleration.
The value of RefAcceleration is calculated once per Sercos cycle (see CycleTime). For more information on the CycleTime, refer to the LMC Pro Device Objects and Parameters Guide.
NOTE: If
EnableSet inside the user function
CarrierState (see
CarrierState) is disabled, the value of
Position (see
Position) is cyclically copied to
RefPosition (see
RefPosition).
RefAcceleration is calculated from this path of positions. Disabling
EnableSet while the carrier is still in motion causes a jump in
RefPosition. When calculating
RefAcceleration from
RefPosition, this jump is indicated. This results in peaks with reversed signs in
RefAcceleration due to the double derivation in two sequential
Sercos cycles. The carrier does not react to the peaks as it no longer follows the reference values when
EnableSet is disabled.
NOTE: The parameter value is transferred from the master to the slave via the real-time channel of the Sercos. A transmission is only possible in the Sercos phase 4 (operating phase).
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Data type
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Meaning
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LREAL
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The reference acceleration of the carrier, derived from the reference velocity RefVelocity.
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